Plane: 4.7.0-beta3 release notes

Author: Georacer

ArduPlane/ReleaseNotes.txt

@@ -1,4 +1,69 @@
 ArduPilot Plane Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta3 10-Apr-2026
+
+Changes from 4.7.0-beta2
+
+1) Board specific changes
+
+- HWH7 flight controller added to supported boards (@Arwayday, PR:32248)
+- Atlas-Control has updated hwdef.dat file (@AltasFlight, PR:32268)
+- TBS_LUCID_H7 now has an MPU6000 version (@andyp1per, PR:32512)
+
+2) Driver changes
+
+- ZB25VQ128D flash chip now supported for onboard logging (@LoyalLinjy, PR:32408)
+- Kebni SensAItion as External AHRS now supported in IMU and INS modes (@magnus-lindhe-kebni, PR:31775)
+- Correct probing of IST8310 compasses on fmuv3-based boards (@peterbarker, PR:32462)
+
+3) AHRS specific changes
+
+- Flash space requirements reduction in EKF3 (@tpwrules, PRs:32213, 32618)
+- EKF3 is fixed to no longer reset to external altitude when it is configured to another source (@snktshrma, PR:32508)
+- AHRS recorded origin check will correctly use the GPS (@andyp1per, PR: 32469)
+- AHRS external origin setting will be delayed until filter is initialised (@andyp1per, PR: 32505)
+- Added missing EKF3 constraints to FuseDragForces (@tpwrules, PR:32128)
+- Fix replay involving body odometry data (@twprules, PR:32598)
+
+4) Camera and mount specific changes
+
+- Camera servo CAMERA_INFORMATION flags are no longer broken (@Davidsastresas, PR:32564)
+- RunCam param metadata names are fixed to match code (@tpwrules, PR:32601)
+- Mount will now correctly mark angular rates as locked too (@KSimeonAVTA, PR:32540)
+- Scrpting mount backend is now fixed to accept more than angle commands (@peterbarker, PR:32626)
+- Fix wire data issues with various Mount backends (@peterbarker, PR:32630)
+
+5) Other libraries changes
+
+- Fence for Plane and Copter now supports a frame argument (@andyp1per, PR:31619)
+- AP_DAL: comment improvements in all fields of replay beacon data message (@tpwrules, PR:32597)
+- Ignore-receiver in RC_OPTIONS is now respected during RC loss (@peterbarker, PR:32488)
+- Updated mavlink library reference (@peterbarker, PR:32663)
+- INPUT_TC default is reduced (@rmackay9, PR:32643)
+
+6) Copter/Tradheli specific changes
+
+- Spool state is now logged (@Georacer, PR:31668)
+- autotest: reduce circling time in Arc waypoint test (@peterbarker, PR:32609)
+
+7) Plane specific changes
+
+- Rangefinder state is now logged (@Georacer, PR:31579)
+- No longer logging AHRS data with the full rate attitude (@IamPete1, PR:32623)
+
+8) Sub specific changes
+
+- Automatically deal with misconfigured lights/actuators (@Williangalvani, PR:31109)
+
+9) Rover specific changes
+
+- The battery watt limiter feature is now included in the custom build server (@mackay9, PR:32687)
+
+10) Scripting changes
+
+- plane_follow.lua messages will no longer crash the script if there is no target vehicle (@timtuxworth, PR:32567)
+- plane_follow.lua has a fix for crosstrack oscillation (@timtuxworth, PR:32575)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta2 21-Mar-2026